def defend_ball(self, robot_id):
if robot_id != 0:
return None
if self.reset_reason != NONE:
return None
# GK takes 250ms to perform defense move
predicted_ball_gk = helper.predict_ball(self.cur_ball, self.prev_ball,
self.reset_reason, 5)
if predicted_ball_gk[X] < self.cur_posture[robot_id][X] + 0.1:
# right part of the goal
if -0.65 < predicted_ball_gk[Y] < -0.07:
# top part of the goal
if (predicted_ball_gk[Z] > 0.25):
return [0, 0, 0, 0, 7, 0]
else:
return [0, 0, 0, 0, 6, 0]
# center part of the goal
if -0.07 < predicted_ball_gk[Y] < 0.07:
# top part of the goal
if (predicted_ball_gk[Z] > 0.25):
return [0, 0, 0, 0, 8, 0]
else:
return [0, 0, 0, 0, 3, 0]
# left part of the goal
if 0.07 < predicted_ball_gk[Y] < 0.65:
# top part of the goal
if (predicted_ball_gk[Z] > 0.25):
return [0, 0, 0, 0, 9, 0]
else:
return [0, 0, 0, 0, 10, 0]
else:
return None
def update(self, received_frame):
if received_frame.end_of_frame:
self._frame += 1
if (self._frame == 1):
self.previous_frame = received_frame
self.get_coord(received_frame)
self.previous_ball = self.cur_ball
self.get_coord(received_frame)
self.predicted_ball = helper.predict_ball(self.cur_ball,
self.previous_ball, 2)
self.idx_d = helper.find_closest_robot(self.cur_ball,
self.cur_posture, [1, 2])
self.idx_a = helper.find_closest_robot(self.cur_ball,
self.cur_posture_opp,
[3, 4])
#(update the robots wheels)
# Robot Functions
self.speeds[4 * self.gk_index:4 * self.gk_index +
4] = self.GK.move(self.gk_index, self.idx_d,
self.idx_a, self.cur_posture,
self.cur_posture_opp,
self.previous_ball, self.cur_ball,
self.predicted_ball)
self.speeds[4 * self.d1_index:4 * self.d1_index +
4] = self.D1.move(self.d1_index, self.idx_d,
self.idx_a, self.cur_posture,
self.cur_posture_opp,
self.previous_ball, self.cur_ball,
self.predicted_ball)
self.speeds[4 * self.d2_index:4 * self.d2_index +
4] = self.D2.move(self.d2_index, self.idx_d,
self.idx_a, self.cur_posture,
self.cur_posture_opp,
self.previous_ball, self.cur_ball,
self.predicted_ball)
self.speeds[4 * self.f1_index:4 * self.f1_index +
4] = self.F1.move(self.f1_index, self.idx_d,
self.idx_a, self.cur_posture,
self.cur_posture_opp,
self.previous_ball, self.cur_ball,
self.predicted_ball)
self.speeds[4 * self.f2_index:4 * self.f2_index +
4] = self.F2.move(self.f2_index, self.idx_d,
self.idx_a, self.cur_posture,
self.cur_posture_opp,
self.previous_ball, self.cur_ball,
self.predicted_ball)
self.set_speeds(self.speeds)
self.previous_frame = received_frame
self.previous_ball = self.cur_ball
self.end_of_frame = False
def update(self, received_frame):
if (received_frame.end_of_frame):
self._frame += 1
if (self._frame == 1):
self.previous_frame = received_frame
self.get_coord(received_frame)
self.previous_ball = self.cur_ball
self.get_coord(received_frame)
self.predicted_ball = helper.predict_ball(self.cur_ball, self.previous_ball)
self.idx = helper.find_closest_robot(self.cur_ball, self.cur_posture, self.number_of_robots)
self.idx_opp = helper.find_closest_robot(self.cur_ball, self.cur_posture_opp, self.number_of_robots)
self.defense_angle = helper.get_defense_kick_angle(self.predicted_ball, self.field, self.cur_ball)
self.attack_angle = helper.get_attack_kick_angle(self.predicted_ball, self.field)
##############################################################################
#(update the robots wheels)
# Robot Functions
self.speeds[6 * self.gk_index : 6 * self.gk_index + 6] = self.GK.move(self.gk_index,
self.idx, self.idx_opp,
self.defense_angle, self.attack_angle,
self.cur_posture, self.cur_posture_opp,
self.previous_ball, self.cur_ball, self.predicted_ball)
self.speeds[6 * self.d1_index : 6 * self.d1_index + 6] = self.D1.move(self.d1_index,
self.idx, self.idx_opp,
self.defense_angle, self.attack_angle,
self.cur_posture, self.cur_posture_opp,
self.previous_ball, self.cur_ball, self.predicted_ball)
self.speeds[6 * self.d2_index : 6 * self.d2_index + 6] = self.D2.move(self.d2_index,
self.idx, self.idx_opp,
self.defense_angle, self.attack_angle,
self.cur_posture, self.cur_posture_opp,
self.previous_ball, self.cur_ball, self.predicted_ball)
self.speeds[6 * self.f1_index : 6 * self.f1_index + 6] = self.F1.move(self.f1_index,
self.idx, self.idx_opp,
self.defense_angle, self.attack_angle,
self.cur_posture, self.cur_posture_opp,
self.previous_ball, self.cur_ball, self.predicted_ball)
self.speeds[6 * self.f2_index : 6 * self.f2_index + 6] = self.F2.move(self.f2_index,
self.idx, self.idx_opp,
self.defense_angle, self.attack_angle,
self.cur_posture, self.cur_posture_opp,
self.previous_ball, self.cur_ball, self.predicted_ball)
self.set_speeds(self.speeds)
##############################################################################
self.previous_frame = received_frame
self.previous_ball = self.cur_ball
helper.print_debug_flag(self)
def update(self, received_frame):
if (received_frame.end_of_frame):
self._frame += 1
if (self._frame == 1):
self.previous_frame = received_frame
self.get_coord(received_frame)
self.previous_ball = self.cur_ball
self.previous_posture = self.cur_posture
self.previous_posture_opp = self.cur_posture_opp
self.get_coord(received_frame)
self.predicted_ball = helper.predict_ball(
self.cur_ball, self.previous_ball, received_frame.reset_reason)
self.idx = helper.find_closest_robot(self.cur_ball,
self.cur_posture,
self.number_of_robots)
self.idx_opp = helper.find_closest_robot(self.cur_ball,
self.cur_posture_opp,
self.number_of_robots)
self.defense_angle = helper.get_defense_kick_angle(
self.predicted_ball, self.field, self.cur_ball)
self.attack_angle = helper.get_attack_kick_angle(
self.predicted_ball, self.field)
##############################################################################
#(update the robots wheels)
self.speeds = self.team.move(
self.idx, self.idx_opp, self.defense_angle, self.attack_angle,
self.cur_posture, self.cur_posture_opp, self.previous_posture,
self.previous_posture_opp, self.previous_ball, self.cur_ball,
self.predicted_ball, received_frame.reset_reason,
received_frame.game_state)
self.set_speeds(self.speeds)
##############################################################################
self.previous_frame = received_frame
self.previous_ball = self.cur_ball
self.previous_posture = self.cur_posture
self.previous_posture_opp = self.cur_posture_opp